Tele-presence system with a user interface that displays different communication links

ABSTRACT

A tele-presence system that includes a remote device coupled to a control station through a communication link. The remote device includes a remote monitor, a remote camera, a remote speaker and a remote microphone. Likewise, the control station includes a station monitor, a station camera, a station speaker and a station microphone. The control station displays a plurality of graphical icons that each represents a different type of communication link between the control station and the remote device. The graphical icons can be selected to allow a user of the control station to change the communication link between the remote device and its initial node.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a tele-presence system that includes aremote station coupled to a portable robot face located within anambulance;

FIG. 2 is an illustration showing the portable robot face within theambulance;

FIG. 3 is an illustration showing the portable robot face detached froma platform mounted to the ambulance ceiling;

FIG. 4 is an illustration showing the portable robot face attached to apatient gurney;

FIG. 5 is an illustration showing the portable robot face attached to astand;

FIG. 6 is an illustration showing a patient within a healthcare facilitythat has a robot face attached to a boom;

FIGS. 7A and 7B are illustrations of an alternate embodiment of therobot face;

FIG. 8 is an illustration of a rear view of the robot face shown in FIG.7;

FIG. 9 is an illustration showing a user holding the portable robot facewhile viewing an image captured by the robot camera through a viewfinderscreen;

FIG. 10 is an illustration showing a user interface that allows a userto vary speaker and microphone volume;

FIG. 11 is an illustration showing a user interface that allows a userto perform certain functions through graphical icons;

FIG. 12 is an illustration showing a picture in picture display;

FIG. 13 is an illustration showing the pictures in swapped positions;

FIG. 14 is an illustration showing a graphical interface showingcommunication links in the system;

FIG. 15 is an illustration of a graphical interface with a plurality ofgraphical icons that each represents a different type of communicationlink between a remote device and its initial node;

FIG. 16 is an illustration similar to FIG. 14 wherein a graphical iconappearance is changed to indicate the availability of a type ofcommunication link;

FIG. 17 is an illustration showing a graphical dialog box;

FIGS. 18A-C are illustrations showing message boxes associated withchanging the type of a communication link;

FIG. 19 is an illustration of a message box displayed on the remotedevice showing a status of a communication link.

DETAILED DESCRIPTION

Disclosed is a tele-presence system that includes a remote devicecoupled to a control station through a communication link. The remotedevice includes a remote monitor, a remote camera, a remote speaker anda remote microphone. Likewise, the control station includes a stationmonitor, a station camera, a station speaker and a station microphone.The control station displays a plurality of graphical icons that eachrepresents a different type of communication link between the remotedevice and its initial node. The graphical icons can be selected toallow a user of the control station to change that communication link.

Referring to the drawings more particularly by reference numbers, FIG. 1shows a tele-presence system 10. The system 10 includes a remote device12 that is coupled to a remote control station 14 through a network 18.The remote device may be a portable robot face, such as the robot facesold by the assignee of the present application, InTouch Technologies,Inc. under the product name RP-Xpress. The remote device 12 may also bea mobile robot such as the robot sold by InTouch Technologies, Inc.under the product name RP-7. The network may be wired system, or awireless system such as a cellular broadband network and/or a WiFinetwork. The portable robot face 12 is shown located within an ambulance20.

The remote control station 14 may include a computer 22 that has amonitor 24, a camera 26, a microphone 28 and a speaker 30. The computer22 may also contain an input device 32 such as a joystick or a mouse.The control station 14 is typically located in a place that is remotefrom the remote device. Although only one remote control station 14 isshown, the system 10 may include a plurality of remote stations 14. Ingeneral any number of remove devices 12 may be coupled to any number ofremote stations 14 or other remote devices 12. For example, one remotestation 14 may be coupled to a plurality of remote devices 12, or oneremote device 12 may be coupled to a plurality of remote stations 14, ora plurality of remote devices 12. The system may include an arbitrator(not shown) that controls access between the remote device(s) 12 and theremote stations 14.

As shown in FIGS. 2 and 3, a portable robot face 12 may be attached to aplatform 34. The platform 34 may extend from the ceiling (not shown) ofthe ambulance 20. The platform 34 may include articulate joints 36 and38 that provide at least two degrees of freedom and allow a user to movethe robot face 12 to different positions to view a patient and an EMTwithin the ambulance.

Each robot face 12 includes a camera(s) 50, a monitor 52, amicrophone(s) 54 and a speaker(s) 56 that are all attached to a housing58. The robot camera 50 is coupled to the remote monitor 24 so that auser at the remote station 14 can view the patient and/or EMT. Likewise,the robot monitor 52 is coupled to the remote camera 26 so the patientand EMT may view the user of the remote station 14. The microphones 28and 54, and speakers 30 and 56, allow for audible communication betweenthe system operator and the patient and/or EMT.

The system 10 allows a system user such as a physician to view a patientin the ambulance and provide remote medical consultation through theremote station 14 and the robot face 12. Personnel such as the EMT cantransmit questions and responses through the system back to thephysician. The robot camera 50 allows the physician to view the patientand enhance the medical consultation. The robot monitor 52 can displaythe physician to provide a feeling of presence in the ambulance. Theplatform 34 allows the physician to pan and tilt the robot face 12.

The robot face 12 may include a wireless transceiver 60 that is coupledto the wireless network. The portable face 12 also includes a battery62.

The system 10 may have certain components and software that are the sameor similar to robotic systems provided by the assignee InTouchTechnologies, Inc. of Goleta, Calif. under the names RP-Xpress and RP-7,and embodies a system described in U.S. Pat. No. 6,925,357, which ishereby incorporated by reference.

As shown in FIG. 3, the portable robot face 12 can be detached from theplatform 34. The robot face 12 and platform 34 may have mechanicalconnectors 64 that allow the face 12 to be readily attached and detachedfrom the platform 34. Likewise, the robot face 12 and platform 34 mayinclude electrical connectors 66. The ambulance may include a wirelesstransceiver (not shown) that can provide wireless communication to theremote station. The electrical connectors 66 provide an electricalconnection between the robot face 12 and the ambulance wirelesstransceiver. The connectors 66 may also provide power to the robot face12. Alternatively, the wireless transceiver 60 of the robot face 12 maybe coupled to the remote station through the ambulance wirelesstransceiver. The robot face may include an actuator system 68 that canmove the camera 50 in two degrees of freedom. This allows the operatorto move the camera field of view even when the face 12 is detached fromthe platform 34.

As shown in FIG. 4 the portable robot face 12 can be detached from theplatform (not shown) and attached to the patient gurney 70. The robotface 12 may be attached to a platform 72 with two degrees of freedomthat allow the remote station user to move the robot face 12. Theplatform 72 may include a clamp 74 that allows for attachment to thegurney 70. The robot face 12 and patient can be moved out of theambulance on the gurney 70. The portable aspect of the robot face 12allows the face to be moved with the patient. The robot face 12 shouldbe of a size and weight so that an individual can lift the face 12.

As shown in FIG. 5 the portable robot face 12 can be detached from theambulance platform (not shown) and attached to a stand 80 at a remotelocation. The portable nature of the robot face 12 allows the face 12 tobe taken to any location to allow for remote tele-presence of theoperator of the remote station. If the operator is a physician theportable robot face 12 allows for remote medical consultation at anysite.

FIG. 6 shows the patient and gurney moved into a healthcare facilitywith a robot face 90 attached to a boom 92. When the gurney 70 is movedinto close proximity with the healthcare facility the robot facewireless transceiver may be coupled to the remote station thru thehealthcare facility local wireless network such as a WiFi network. Onceinside the facility the portable robot face can be connected to anelectrical power outlet and a network for Ethernet connection. Anelectronic ID device 94 may be attached to the patient. The ID device 94may transmit a wireless signal to the robot face 90 attached to the boom92. Receipt of the signal by the face 90 may cause the remote station tobe coupled to the robot face 90 attached to the boom 92 instead of theportable robot face 12. The robot face 90 may be coupled to the remotestation by other means. For example, a nurse may type in informationinto the healthcare facility network system that identifies the newlocation of the patient. Such an entry may cause the system to switchthe remote control station to the robot face 90. Additionally, there maybe other methodologies for inducing the system to automatically transferthe remote station from one robot to another robot.

FIGS. 7A, 7B and 8 show another embodiment of a portable robot face 100.The face 100 includes a monitor 102, a first camera 104, a microphone106 and a speaker 108 all attached to a first face 110 of a housing 112.The camera 104 may include a fish eye lens with a 180 degree field ofview and a zoom feature. The face 100 is constructed to have a size andweight so that it can be carried by a single human being. The robot face100 may have a handle 114 to facilitate carrying and moving the device100. The housing 112 may be constructed so that the face 100 can standin an upright position on a surface.

The robot face 100 may include a viewfinder screen 116 and a secondcamera 118 attached to a second face 120 of the housing 112. The secondcamera 118 can capture images of a person holding the face that aretransmitted to the remote station. Located within the housing 112 areelectronic circuits and devices, including a processor(s), memory andhard disk drive (not shown) that can perform the various functions ofthe robot face 100. One side of the face 100 may include various ports122, 124, 126, 128 and 130. Port 122 may provide a USB and/or Bluetoothconnection. The USB port can be used to attach a medical instrument suchas a stethoscope or a blood pulse oximeter to the robot face 100. Port124 may provide C video, S video auxiliary inputs. A battery of the facemay be charged through connector 126. A cell phone connection may beestablished through a transceiver 128 within the housing 112. Connector130 may provide 801.11 WiFi connectivity. As shown in FIG. 7B, the otherside of the face 100 may include different input buttons 132 that canestablish videoconferencing controls such as audio volume adjustment.The robot monitor may display the various ports and pluggable devicesthat can be used with the robot face through touch screens operated bythe user.

In certain emergency transport situations, particularly in noisyenvironments, the remote physician may want to hear everything that isin the area, and simultaneously focus on a single individual providingdetailed information. For example, the physician may need to be aware ofsounds from the patient, but also focused in on a description of thepatient's history given by an on-site technician with a headset. Theon-site technician may be using a wired microphone which is plugged inand tethered to the unit, but will more likely be utilizing a BlueToothheadset wirelessly coupled to the unit. The system provides live mixingbetween the on-board microphone 106, which provides ambient audio of thelocal environment, and the wireless or tethered microphone (for examplea USB headset tethered to port 122). In one embodiment, the controlstation user interface contains a slider indicating the cross-fadebetween the two streams. The default position is in the center, but thephysician may slide the tab to the left or right to adjust the relativeinput level of one source to the other.

The system may additionally provide output simultaneously to the unit'son-board speaker 108, and to a paired BlueTooth or tethered headset, forexample a USB headset attached to port 122.

The system may run in a variety of modes, shown in the table below,which may be selected by the remote physician, or alternatively by alocal caregiver on the unit's interface. In the Normal mode, all inputsand outputs are active and mixed. In Privacy Mode BlueTooth, audio inputand output is limited to the BlueTooth headset, while in Privacy ModeAux, audio input and output is limited to the auxiliary tetheredheadset. In Mode R, the on-board microphone is disabled, allowing theremote physician to concentrate on the individual with the headset only.In Mode J, the on-board speaker is disabled, allowing the remotephysician to hear everything but not disturb others in the environmentthat are not on a headset. Finally, Mixed BlueTooth mode allows foruser-modifiable mixing between the on-board microphone and the BlueToothmicrophone, while Mixed Aux mode allows for user-modifiable mixingbetween the on-board microphone and the auxiliary tethered microphone.

INPUTS OUTPUTS RP-X on- Aux input RP-X on- BlueTooth Aux/line Mode boardMic BlueTooth In (tethered) board Spkr Out output Normal ON ON ON ON ONON Privacy Mode - off ON off off ON off BlueTooth Privacy Mode - off offON off Off ON Aux mode R off ON ON ON ON ON mode J ON ON ON off ON ONMixed - Percentage Percentage off ON ON ON BlueTooth Mixed - AuxPercentage off Percentage ON ON ON

FIG. 9 shows a user holding the portable robot face 100 to allow aremote operator to view a patient through the first robot camera locatedon the opposite side of the face. The viewfinder screen 116 allows theholder to view the image being captured by the first robot camera andmove the face 100, accordingly. By way of example, the operator at theremote station can provide oral instructions to the holder to move theportable robot face 100 to obtain a desired view of the patient. To thisextent the user performs the functions of the actuators shown in FIGS. 2and 3 and described above.

The robot face 100 may include a motion sensing device 134 such as anaccelerometer, gyro and/or magnetometer. The motion sensing device 134can be utilized so that the person displayed by the robot monitor isright sized even if the user is holding the robot face 100 in a tiltedmanner. Likewise, the motion sensing device 134 can be used to provide aright sized image to the remote station.

The viewfinder screen 116 may include touch features that allow theholder of the face 100 to change the image being captured. For example,movement of the holder's fingers from an inward location in an outwardmanner may cause the captured image to be zoomed in. An oppositemovement of the user's fingers may cause the image to zoom out.

FIG. 10 shows a user interface 140 displayed by the viewfinder 116. Theinterface 140 includes graphical icons 142 that can be touched by theuser to change the volume of the robot speaker and microphone. Theviewfinder 116 may also display the interface 144 shown in FIG. 11. Theinterface 144 includes graphical icons 146 that can be touched tocontrol such functions as power, audio modes, connect/disconnect and ahold button.

FIG. 12 shows the robot monitor 102 displaying an image 148 of theremote operator and the image 150 captured by the robot camera in apicture in picture format. The images 148 and 150 can be swapped asshown in FIG. 13. The images can be swapped by a touch screen toggle(not shown) displayed by the viewfinder screen, or by a graphical switchat the remote station.

As shown in FIG. 14, the remote device 12 and/or the remote station mayprovide a graphical interface 160 that shows the connectivity betweenthe robot face and the remote station. Graphical icons 162, 164, 166 and168 may represent the robot face, a server, the network and remotestation, respectively. A solid line between two devices indicates anestablished link. A broken line indicates a broken communication linkbetween two devices. For example, FIG. 14 depicts a broken communicationbetween the network and remote station. The system can performdiagnostic and corrective action functions for broken links. Thecorrective actions may be automatic, or include prompt messages to theuser to perform certain task such as plugging in their Ethernet cable,or provide instructions to configure a firewall.

FIG. 15 shows a graphical user interface 200 provided by the remotestation 14 that displays a plurality of graphical icons 202, 204, 206and 208. Each icon represents a different type of communication linkwith the remote device and its initial node. The initial node is thefirst device in communication with the remote device 12. For example,the initial node may be a cellular tower or an 802.11 access point orother such relay station; or alternatively router, hub, server or otherdevice in a wired connection such as Ethernet. For example, graphicalicon 202 may represent a wireless cellular communication link and icon208 may represent a wireless WiFi link. Icons 204 and 206 may representwired communication links. The icons can convey whether a type ofcommunication link is available. FIG. 15 shows that the cell and WiFilinks are available but the wired links are not available. FIG. 16 showsa change in status wherein a wired communication link with the remotedevice has become available.

The graphical icons 202, 204, 206 and 208 are selectable so that a usercan change the communication link of the remote device. If the userselects a different type of communication link the control station sendsa command to the remote device to terminate the present communicationsession and re-establish communication with the selected communicationlink. The graphical display 200 allows the remote user to varycommunication links. For example, in a situation wherein the remotedevice is associated with a patient being moved into and through ahealthcare facility, a physician at the control station can change thetype of communication. For example, the physician may select a cellnetwork when the patient is outside the healthcare facility and thenswitch to a WiFi connection when the patient is being moved within thefacility.

The system may evaluate reliability and dynamic bandwidth on each of thenetwork links and determine whether there is a better network linkbetween the remote device and its initial node. If there is a betternetwork link the control station may display the dialogue box 210 shownin FIG. 17. The box 210 may include a message informing the user thatthere is a better network link. The dialogue box 210 may also havegraphical buttons SWITCH 212 and DENY 214 which allow the user to changenetworks, or not change, respectively. FIG. 18A shows a message box 216that is displayed at the control station when a network is beingswitched. FIG. 18B shows a similar message 218 that is displayed at theremote device. FIG. 18C is a message 220 that can be displayed at thecontrol station at the beginning of a communication session when a cellnetwork is the communication link. FIG. 19 shows a display 222 providedby the remote device that conveys information regarding status of thecommunication link presently utilized by the device.

The portable robot face can be used in various applications. Forexample, the face 100 can be used to allow for remote examination of apatient. The robot face 100 can remain in an active setup-and-recordingmode even when there is no session with a remote operator in progress.This allows for offline recording of patient status, as well aspre-session “setup”. Pre-session setup allows a user to position therobot face and use the digital box-zoom controls to ensure optimalviewing of the patient prior to the remote physician's entry. This is tobe contrasted with prior art telepresence systems, wherein at the startof a new session, the camera pan/tilt/zoom settings are either atdefault, or previous settings. The robot face allows a local user canset up the optimal view field for the remote doctor prior to his/hersession initiation; and further can update the view field when theremote doctor becomes temporarily busy or requests local assistance.

The robot face 100 may have an “aircraft mode” that inhibits outboundtransmission during take-off and landing when the face is located in anaircraft. Additionally, the system may be switched to a“capture-then-send” modality during periods of limited wirelessconnectivity. In this modality, a user can make a video recording of apatient exam intended for a physician. Exam reports are thenautomatically forwarded to the physician upon the system regainingadequate connectivity, and placed in a queue at the physician's remotestation.

The robot face may also be equipped with a GPS (not shown). This allowsfor real-time tracking of the geographic location of each face, andgeo-tagging of session statistics. This serves a variety of functions,including: analysis of wireless connectivity based on geographiclocation; tracking of video clips and patient data based on proximity toa hospital and ambulance speed; and hospital and billing auditing.

The portable robot face can be used for various applications in themedical field. One application is specialty transport, in particularpediatric transport. An ambulance and team can be deployed from HospitalA to Hospital B for patient transport. Upon arrival at Hospital B, apatient may be found to be in need of stabilization prior to transport.An expert consultation can occur in Hospital B or during transport onthe trip back to Hospital A.

For example, a call may be placed for a transport of a patient from aspoke Hospital B which does not have expertise that Hospital A has(e.g., pediatric intensives specialist care). A transport team fromHospital A is deployed to Hospital B. The team brings the robot face100, mounts it on a gurney and places the gurney in an ambulance. Theteam arrives at Hospital B and views the patient. If at any point thetransport team would like to request a consult, the remote physicianfrom Hospital A establishes a link with the robot face located on thegurney. The remote physician can pan-tilt-zoom the image to obtain adesired view. If still unable to access the desired views, someone atthe robot face side can assist by repositioning the face 100 using theviewfinder to help position the front camera on the patient/desiredview. The robot face side team is able to communicate with the remotephysician via the main speaker/mic on the unit. The remote physician mayspeak with various members of the team and patient/family at Hospital Bto make a recommendation. In the event of noisy environment, or privacysituation, a Bluetooth headset can be used as an alternative. The remotephysician is able to help with decisions regarding care/transport of thepatient.

Care can be advanced either through decision to continue transport, tonot continue transport, or administer certain care as determined by theremote physician in collaboration with the onsite team. The consult canalso occur during transport if there are situations where the patientstarts to decompensate. In this case the link would be between a remotestation and a robot face located in the ambulance during transport ofthe patient. The robot would be mounted on a gurney; the remotephysician can view the patient and communicate with the transport teamto help make a care decision.

Another application may include a nurse conducting a scheduled visit toa chronically ill patient in their home. The nurse views the patient.The touch screen of the face can be used to document various symptoms.The data is stored in the robot. The data and video of certain patientinteractions can be forwarded to a server. The robot face may receiverequested information from the server. The nurse may observe a troublingsymptom and request a physician consult. The nurse may call thephysician, who establishes a link with the robot face and initiates atelehealth session with the patient, facilitated by the nurse. Thephysician may request that the nurse attach a digital stethoscope to therobot face and apply it to the patient. The physician may then requestthat the nurse attach a portable ultrasound device to the auxiliaryvideo port of the robot face. Finally the physician may decide that thepatient should be taken immediately to a medical facility. The nurse maycall the ambulance. The nurse stays by the patient's side, with theremote physician logged into the robot face, as the patient istransported to the facility.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art.

The invention claimed is:
 1. A control station, at a first location,that establishes a communication session with a remote device at asecond location through at least an initial node, the remote device hasa remote camera, a remote monitor, a remote speaker and a remotemicrophone, the control station comprising: a station camera; a stationmonitor; a station speaker; and a station microphone, wherein, duringsaid communication session, said station monitor displays a graphicalinterface including a plurality of graphical icons that each represent adifferent type of communication link between the remote device and theinitial node, at least one of said graphical icons corresponds to awired communication link between the remote device and the initial node,and said graphical interface is not displayed on the remote monitor. 2.The control station of claim 1, wherein said graphical icons areselectable to change the type of communication link.
 3. The controlstation of claim 1, wherein said graphical icons display whether a typeof communication link is available.
 4. The control station of claim 1,wherein a graphical dialog box is displayed that informs a user that abetter type of communication is available and allows the user to selectthe better type of communication.
 5. A telepresence system that iscoupled to at least an initial node, comprising: a remote device at afirst location, the remote device includes a remote camera, a remotemonitor, a remote speaker and a remote microphone; and, a controlstation at a second location, the control station includes a stationcamera, a station monitor, a station speaker and a station microphone,wherein said control station establishes a communication session withsaid remote device and, during said communication session, said stationmonitor displays a graphical interface including a plurality ofgraphical icons that each represent a different type of communicationlink between said remote device and the initial node, at least one ofsaid graphical icons corresponds to a wired communication link betweenthe remote device and the initial node, and said graphical interface isnot displayed on the remote monitor.
 6. The system of claim 5, whereinsaid graphical icons are selectable to change the type of communicationlink.
 7. The system of claim 5, wherein said graphical icons displaywhether a type of communication link is available.
 8. The system ofclaim 5, wherein a graphical dialog box is displayed that informs a userthat a better type of communication is available and allows the user toselected the better type of communication.
 9. A method for communicatingbetween a control station at a first location and a remote device at asecond location, the control station and the remote device are coupledby at least an initial node, the method comprising: establishing, by thecontrol station, a communication session with the remote device;transmitting an image that is captured by a station camera to the remotedevice; transmitting an image that is captured by a remote camera to theremote station; transmitting an audio instruction from the controlstation to the remote device; displaying, on a monitor of the remotedevice, an image captured by the station camera; and, displaying, on amonitor of the control station, an image captured by the remote cameraand a graphical interface including a plurality of graphical icons thateach represent a different type of communication link between the remotedevice and the initial node, wherein at least one of said graphicalicons corresponds to a wired communication link between the remotedevice and the initial node and said graphical interface is notdisplayed on the remote monitor.
 10. The method of claim 9, furthercomprising selecting one of the graphical icons to change the type ofcommunication link.
 11. The method of claim 10, wherein the graphicalicon is selected while a user of the remote device is moving with apatient through a healthcare facility.
 12. The method of claim 9,wherein the graphical icons display whether a type of communication linkis available.
 13. The method of claim 9, further comprising displaying agraphical dialog box that informs a user that a better type ofcommunication is available, and selecting the better type ofcommunication.